Box pressing device and box pressing method

Abstract

The invention discloses a box pressing device and a box pressing method, belongs to the technical field of box casting, aims to solve the problems that box pressing is high in dependence on manpower and low in efficiency, and comprises a power system, a control system, a mechanical arm, an executing mechanism and a visual recognition system. The control system is used for issuing and receiving various instructions, information and the like of the box pressing device, the power system is connected with the mechanical arm, the control system is electrically connected with the power system and the mechanical arm, and the execution mechanism is arranged at the tail end of the mechanical arm and used for providing box pressing pressure for a sand box. The identification visual system is arranged on the execution mechanism and is used for confirming or identifying an actual box pressing point; the actuating mechanism is provided with a plurality of rotatable and telescopic tentacles, each tentacle can be pressed at different positions of the sand box, and different pressures can be provided for each actual box pressing point, so that the purpose of multi-point different-pressure box pressing is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of casting, in particular to a pouring press box device. Background Art

[0002] In the casting field, the purpose of the press box is to ensure that there will be no sparking or box shifting problems due to the expansion force of the molten metal during the casting process. Specifically, it is to prevent the buoyancy of the molten metal from lifting the upper box when the casting is poured, causing problems such as sparking and box expansion, thereby causing the casting to be scrapped. At present, in the field of casting, the commonly used box pressing methods include box pressing iron and box pressing wood; there is also a Chinese invention patent CN110369697B that discloses an automatic box pressing device for casting, including: a support mechanism, the support mechanism includes a fixing member and a support member, the fixing member is used to be installed on a horizontal work surface, and the support member is arranged on the fixing member; a lifting mechanism, the lifting mechanism includes a mounting frame and a vertical driving member, the mounting frame is arranged on the support member, and the vertical driving member is installed on the mounting frame, and is used to drive the components installed on the vertical driving member to move in the vertical direction; a transverse mechanism, the transverse mechanism includes a connecting bracket and a transverse driving member, the connecting bracket is connected to the vertical driving member, and the transverse driving member is installed on the connecting bracket; and a box pressing member, the box pressing member is installed on the transverse driving member, and is used to perform box pressing operations on the sand mold in the horizontal and vertical directions. The automatic box pressing device can be applied to sand molds for casting of different heights. Chinese invention patent CN112247076A discloses a core clamping method and a clamping device thereof, wherein the core clamping device fixes the core at a certain position through a clamping part, so that the assembled core will not be displaced or cause overflow or sparking of the molten metal due to the expansion force of the molten metal during the casting process, thereby ensuring good filling and condensation of the molten metal in the cavity of the core, and realizing the naked casting of the casting. Through the implementation of this technical solution, the two processes of making a sand box and burying a box are omitted during the casting process of the casting, which not only shortens the process flow of casting production, but also saves the corresponding production cost and time, and improves production efficiency.

[0003] The box pressing method using iron and wood is labor-intensive and time-consuming, and the box pressing effect on large castings is not good. The box pressing devices disclosed in CN110369697B and CN112247076A have complex structures and high manufacturing costs, and the use of CN112247076A is cumbersome, resulting in low production efficiency. Summary of the invention

[0004] In view of the above problems such as inconvenience and instability of the casting press box and high cost of the press box device, it is necessary to propose a press box device and a press box method to achieve different pressures at different positions and avoid the problem of damage to the core package or poor metal liquid pouring caused by using the pressure of the maximum pressure point.

[0005] A box pressing device includes a power system, a control system, a mechanical arm, an actuator and a visual recognition system, wherein the power system is used to drive the mechanical arm, and the control system is used to issue and receive various instructions and information of the box pressing device. The power system is connected to the mechanical arm, and the control system is electrically connected to the power system and the mechanical arm. The actuator is arranged at the end of the mechanical arm to provide a box pressing pressure for the sand box, and the recognition visual system is arranged on the actuator to confirm or recognize the actual box pressing point; the actuator is provided with a plurality of rotatable and retractable tentacles, each of which can be pressed at a different position of the sand box, that is, one tentacle is pressed on an actual box pressing point, and different pressures can be provided for each actual box pressing point, thereby achieving the purpose of the present invention of box pressing at multiple points with different pressures.

[0006] The box pressing device realizes accurate box pressing point positioning, pressure control and feedback, and can transmit information such as actual pressure data to the production management system, thus realizing transparency and digitization of production.

[0007] Furthermore, the box pressing device also includes a base, which is fixedly arranged on the ground to play a supporting role.

[0008] Furthermore, the power system may be arranged on the upper surface of the base. In the case where the working space is limited, the power system may also be arranged inside the base, thereby saving space occupancy.

[0009] Furthermore, the control system can be arranged on the upper surface of the base to facilitate operators to execute instructions; more preferably, the control system can be arranged inside the base, which can not only save space but also play a protective role to avoid possible damage to the control system by the environment.

[0010] Furthermore, the robotic arm includes a first arm, a second arm and a rotating mechanism, one end of the first arm is connected to a power system arranged on the base, the other end of the first arm is connected to the second arm, and the other end of the second arm is connected to the rotating mechanism; the power system achieves the purpose of driving the robotic arm by driving the first arm.

[0011] Furthermore, the first arm can rotate around the base, thereby expanding the box pressing range of the box pressing device.

[0012] Furthermore, the actuator is connected to the rotating mechanism, so that the actuator can better adapt to the pressure point.

[0013] Furthermore, the actuator includes a connecting member, a supporting member and tentacles, one end of the connecting member is connected to the robotic arm for setting the actuator on the robotic arm, the other end of the connecting member is connected to the supporting member, a plurality of tentacles are set on the supporting member, and the tentacles are rotatable and retractable relative to the supporting member, thereby ensuring stable contact with the sand box and ensuring effective pressure.

[0014] Furthermore, the visual recognition system is arranged on the support, and the visual recognition system includes an image acquisition component, an analysis component and a protection component, wherein the image acquisition component is used to acquire image data of the surface of the core package, the analysis component is used to analyze the image data, and the protection component is used to protect the image acquisition component and the analysis component. Specifically, the image acquisition component is arranged on the side of the support facing the core package, and the protection component cover is arranged on the side of the support facing the core package, forming a receiving space with the support, so that the image acquisition component can be effectively separated from the pouring heat, and the image acquisition component is protected from being damaged by the heat.

[0015] A box pressing method, comprising:

[0016] S01, setting a pressing point and the pressure required for each pressing point on the top of the core package to be poured (which is assembled from the molding, sand core, sand mold, etc. to form a complete casting cavity), and transmitting the set pressing point and pressure information to the pressing device;

[0017] S02, transferring the core package to be poured to the pouring station, and determining the height of the actual pressing point relative to the actuator through the visual recognition system;

[0018] S03, the control system sends a command to the power system according to the received height of the pressing point, and the power system drives the mechanical arm to drive the actuator to move toward the core package;

[0019] S04, when the pressure applied by the actuator to the actual box pressing point reaches the set pressure value, the pressure increase is stopped and the pressure is maintained to achieve continuous pressing of the core package.

[0020] The beneficial effects of the technical solution of the present invention are: it saves the manpower cost and time cost of manually aligning the box pressing points, realizes the comprehensive automation of the box pressing, and can effectively collect and store the box pressing process data, thereby improving the quality traceability of the box pressing process and improving the box pressing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of a box pressing device;

[0022] Figure 2 It is a schematic diagram of the structure of the actuator;

[0023] Among them, 1-base; 2-first arm; 3-second arm; 4-rotating mechanism; 5-actuator; 51-connector; 52-support; 53-tentacle; 531-pillar; 532-first tentacle cylinder; 533-second tentacle cylinder; 534-third tentacle cylinder; 535-clamping end; 6-core package; 7-visual recognition system. DETAILED DESCRIPTION

[0024] In order to more clearly illustrate the technical solution of the present invention, the technical solution of the invention content is described in detail in conjunction with the accompanying drawings. Obviously, the following descriptions are some typical embodiments of the present invention. For ordinary technicians in this field, other solutions can be obtained based on these embodiments without paying creative work.

[0025] The invention aims to solve the problem that the existing box pressing system is highly dependent on operators and the box pressing force is uniformly applied to the entire core package.

[0026] One implementation method, such as Figure 1 The box pressing device shown includes a power system, a control system, a mechanical arm, an actuator 5 and a visual recognition system 7. The power system is used to drive the mechanical arm, and the control system is used to issue and receive various instructions and information of the box pressing device. The power system is connected to the mechanical arm, and the control system is electrically connected to the power system and the mechanical arm. The actuator 5 is arranged at the end of the mechanical arm to provide the pressure of the box pressing for the sand box. The visual recognition system 7 is arranged on the actuator to identify the actual box pressing point and the actuator 5 needs to be avoided; the actuator 5 is provided with a plurality of rotatable and retractable tentacles 53, each of which can be pressed at different positions of the sand box and can provide different pressures, thereby achieving the purpose of the present invention of multi-point different pressure box pressing. Specifically, in this embodiment, there are four tentacles 53, and there are also four box pressing points, and the four box pressing points are arranged at the four corners of the core package.

[0027] As a supplement to the present embodiment, the box-pressing device further comprises a base 1, and the base 1 is a support for the box-pressing device, and is used to increase the use range of the box-pressing device in the height direction, so as to expand the applicable range.

[0028] As a supplement to this embodiment, the power system is arranged on the upper surface of the base 1, or when the space in the height direction is limited, the power system can also be arranged inside the base 1. In this case, the base 1 can also serve as a protective cover for the power system, reducing the possibility that the power system cannot operate normally due to environmental factors. In this embodiment, the power system is a hydraulic system, which drives the mechanical arm through a hydraulic cylinder.

[0029] As a supplement to this embodiment, the control system is also arranged on the upper surface of the base 1, and the control system and the power system are arranged close to each other, which improves the reliability and timeliness of information; alternatively, when environmental factors are not conducive to the control system, the control system can also be arranged inside the base 1. The base 1 serves as a protective cover for the control system, which can greatly reduce the impact of environmental dust, humidity, etc. on the service life and normal operation rate of the control system.

[0030] As a supplement to this embodiment, the robot arm is a three-stage robot, including a first arm 2, a second arm 3 and a rotating mechanism 4, wherein the first arm 2 is a main arm, which is arranged in a vertical plane, one end of the first arm 2 is rotatably connected to the power system, the other end of the first arm 2 is connected to one end of the second arm 3, the second arm 3 is arranged in a horizontal plane, the other end of the second arm 3 is connected to one end of the rotating mechanism 4, the rotating mechanism 4 can rotate in a vertical plane, and the other end of the rotating mechanism 4 is used to connect the actuator 5. In this embodiment, the first arm 2 and the second arm 3, and the second arm 3 and the rotating mechanism 4 are driven by a cylinder.

[0031] As a supplement to this embodiment, the actuator 5 includes a connecting member 51, a supporting member 52 and a tentacle 53. One end of the connecting member 51 is connected to the robot arm to set the actuator 5 on the robot arm. The other end of the connecting member 51 is connected to the supporting member 52. A plurality of tentacles 53 are set on the supporting member 52. The tentacles 53 are rotatable and retractable relative to the supporting member 52, thereby ensuring stable contact with the sand box and ensuring effective pressure. Specifically, in this embodiment, in order to realize the rotatable and retractable tentacle 53, the tentacle 53 includes a pillar 531, a first tentacle cylinder 532, a second tentacle cylinder 533, a third tentacle cylinder 534 and a clamping end 535, wherein the first tentacle cylinder 532 drives the tentacle 53 to move in the horizontal direction, the second tentacle cylinder 533 drives the tentacle 53 to move in the inclined direction, and the third tentacle cylinder 534 drives the tentacle 53 to move in the vertical direction; one end of the pillar 531 is arranged on the support member 52, and the other end of the pillar 531 away from the support member 52 is connected to one end of the first tentacle cylinder 532 and the second tentacle cylinder 533, so as to play a fixing and supporting role. The other end of the first tentacle cylinder 532 is connected to one end of the third tentacle cylinder 534, the other end of the second tentacle cylinder 533 is connected to the side wall of the clamping end 535, and the other end of the third tentacle cylinder 534 is connected to the top of the clamping end 535; that is, the first tentacle cylinder 532 and the second tentacle cylinder 533 are used to determine the position of the clamping end 535, and the third tentacle cylinder 534 is used to give pressure to the clamping end 535, so as to achieve the purpose of clamping the core package 6 by the tentacle 53, so that each tentacle 53 can be accurately pressed on the set pressing point of the core package 6, and different pressing forces can be given to each pressing point, so as to achieve the purpose of pressing at different points and with different forces. More specifically, the clamping end 535 includes a connecting rod part and a pressure head, one end of the connecting rod part is connected to the second tentacle cylinder 533 and the third tentacle cylinder 534, and the other end of the connecting rod part is connected to the pressure head. By setting the pressure head with a clamping surface larger than the connecting rod part, the damage to the core package caused by the small contact surface of the press box is effectively avoided, the press box force is effectively balanced, and the press box effect is improved.

[0032] As a further supplement to the present embodiment, in order to detect the actual pressing force of the actuator on the pressing point, the actuator 5 also includes a pressure sensor, which is used to detect the pressure applied to the core package 6 by each tentacle 53, and feed back the actual pressure to the control system. When the actual pressure is equal to the set pressure, the control system sends an instruction to the third tentacle cylinder 534 to stop increasing the pressure and keep the current pressure unchanged, so as to achieve the effect of continuously pressing the core package 6.

[0033] As a supplement to the present embodiment, the visual recognition system 7 is arranged on the side of the support surface 52 facing the core package, and the visual recognition system 7 includes a camera and a high-temperature resistant explosion-proof shell. The camera is used to collect information on the surface of the core package, and feed back the information on the surface of the core package to the analysis module of the visual recognition system 7. The analysis module identifies the set pressing point mark to determine the actual pressing point, and the analysis module feeds back the position of the actual pressing point to the control system. The control system drives the mechanical arm to drive the actuator to move toward the actual pressing point of the core package, thereby realizing precise pressing. The high-temperature resistant explosion-proof shell is a protective cover for the camera, which is used to prevent the high-temperature environment of casting from causing loss to the camera, resulting in a reduction in the life of the camera or damage.

[0034] Another embodiment, a box pressing method, comprising:

[0035] S101, setting a pressing point and the pressure required for each pressing point on the top of the core package 6 to be poured (which is assembled from the molding, sand core, sand mold, etc. to form a complete casting cavity), and transmitting information such as the set theoretical pressing point and theoretical pressure value to the pressing device;

[0036] S102, transporting the core package 6 to be poured to the pouring station, and determining the height of the actual pressing point relative to the actuator 5 through the visual recognition system 7;

[0037] S103, the control system sends a command to the power system according to the received actual height of the pressing point, and the power system drives the mechanical arm to drive the actuator 5 to move toward the core package 6;

[0038] S104, when the pressure value applied by the actuator 5 to the actual box pressing point reaches the set theoretical pressure value, the pressure increase is stopped and the pressure is kept unchanged to achieve a continuous pressing effect on the core package 6.

[0039] In this embodiment, in S101, the pressing point is calibrated in the sand mold or sand core design stage, and the calibration information is transmitted to the production link, and the theoretical pressing point is marked on the sand mold or sand core during production.

[0040] In this embodiment, in S102, the core package 6 to be poured is conveyed by a roller conveyor line to a pouring station provided with the press box device, thereby realizing automatic transfer between core assembly and pouring.

[0041] In this embodiment, in S103, the robotic arm receives the pressing information from the control system, and moves and rotates the actuator above the actual pressing point based on the actual pressing point fed back by the visual recognition system 7. The first tentacle cylinder 532, the second tentacle cylinder 533 and the third tentacle cylinder 534 cooperate with each other to accurately press the tentacle 53 on the identified actual pressing point, thereby realizing the precise pressing of the tentacle 53 on the pressing point. Also, because each tentacle 53 can independently press a pressing point, the purpose of having different pressures at each pressing point is achieved, that is, each pressing point is pressed by an independent tentacle 53, and different theoretical pressure values ​​can be set according to the expansion force of the molten metal thereunder, thereby effectively ensuring that the entire core package 6 can be stably pressed, thereby improving the effectiveness and reliability of the pressing.

[0042] As a supplement to the present embodiment, the box pressing method also includes resetting the box pressing device. Specifically, after the casting is completed, the control system sends a box pressing mode evacuation message to the power system, and the robotic arm, the first tentacle cylinder 532, the second tentacle cylinder 533 and the third tentacle cylinder 534 cooperate with each other to reset the box pressing device to its original state.

[0043] As a supplement to this embodiment, the pressing method also includes storing the pressing process information. After the pressing device is reset, the position of the actual pressing point, the actual pressure value, the actual pressing time, etc. during the pressing process are transmitted to the production management system as a process record of the pressing procedure for quality traceability.

[0044] The above embodiments are merely descriptions of a typical application of the technical solution of the present invention, and reasonable expansion can be carried out on a reasonable basis without requiring creative work.

Claims

1. A box pressing device, characterized in that: The invention comprises a power system, a control system, a mechanical arm, an actuator (5) and a visual recognition system (7), wherein the power system is used to drive the mechanical arm, and the control system is used to issue and receive various instructions and information of the box pressing device. The power system is connected to the mechanical arm, and the control system is electrically connected to the power system and the mechanical arm. The actuator (5) is arranged at the end of the mechanical arm to provide a pressure for pressing the sand box, and the recognition visual system (7) is arranged on the actuator (5) to identify the actual box pressing point; the actuator (5) is provided with a plurality of rotatable and retractable tentacles (53), and each of the tentacles (53) is pressed on a corresponding actual box pressing point to realize point-by-point box pressing.

2. The box pressing device according to claim 1, characterized in that: The box pressing device also includes a base (1), and the base (1) is fixedly arranged on the ground.

3. The box pressing device according to claim 2, characterized in that: The power system is arranged on the upper surface of the base (1), or the power system is arranged inside the base (1).

4. The box pressing device according to claim 2, characterized in that: The control system is arranged on the upper surface of the base (1), or the control system is arranged inside the base (1).

5. The box pressing device according to claim 1, characterized in that: The mechanical arm comprises a first arm (2), a second arm (3) and a rotating mechanism (4); one end of the first arm (2) is rotatably connected to a power system arranged on the base (1); the other end of the first arm (2) is connected to the second arm (3); and the other end of the second arm (3) is connected to the rotating mechanism (4).

6. The box pressing device according to claim 1, characterized in that: The actuator (5) comprises a connecting member (51), a supporting member (52) and tentacles (53); one end of the connecting member (51) is connected to a mechanical arm for arranging the actuator (5) on the mechanical arm; the other end of the connecting member (51) is connected to the supporting member (52); a plurality of tentacles (53) are arranged on the supporting member (52); and the tentacles (53) are rotatable and retractable relative to the supporting member (52).

7. The box pressing device according to claim 6, characterized in that: The actuator (5) further comprises a pressure sensor, wherein the pressure sensor is arranged on the tentacle (53).

8. The box pressing method of the box pressing device according to any one of claims 1 to 7, characterized in that: include, S01, setting a pressing point and the pressure required for each pressing point on the top of the core package (6) to be poured, and transmitting the set pressing point and pressure information to the pressing device; S02, transferring the core package (6) to be poured to the pouring station, and determining the height of the actual pressing point relative to the actuator (5) through the visual recognition system (7); S03, the control system sends a command to the power system according to the received actual height of the pressing point, and the power system drives the mechanical arm to drive the actuator (5) to move toward the core package (6); S04, when the pressure applied by the actuator (5) to the actual box pressing point reaches the set pressure value, the pressure increase is stopped and the pressure is maintained to achieve a continuous pressing effect on the core package (6).

9. The box pressing method according to claim 8, characterized in that: In S01, the pressing point is calibrated in the sand mold or sand core design stage, and the calibration information is transmitted to the production link, and the pressing point is marked on the sand mold or sand core during production.

10. The box pressing method according to claim 8, characterized in that: In S03, the robot arm receives the box-pressing information from the control system, and moves and rotates the actuator (5) to above the actual box-pressing point based on the actual box-pressing point fed back by the visual recognition system (7). The first tentacle cylinder (532), the second tentacle cylinder (533) and the third tentacle cylinder (534) cooperate with each other to accurately press the tentacle (53) on the actual box-pressing point, thereby achieving accurate box-pressing of the tentacle (53) on the box-pressing point.

Images